A bit of refactoring related to spindles as a first step for a coming settings structure revision, "hardened" some code.

README.md

@@ -13,7 +13,7 @@ It has been written to complement grblHAL and has features such as proper keyboa
 
 ---
 
-Latest build date is 20241113, see the [changelog](changelog.md) for details.  
+Latest build date is 20241120, see the [changelog](changelog.md) for details.  
 
 __NOTE:__ Build 20240222 has moved the probe input to the ioPorts pool of inputs and will be allocated from it when configured.
 The change is major and _potentially dangerous_, it may damage your probe, so please _verify correct operation_ after installing this, or later, builds.
@@ -94,4 +94,4 @@ G/M-codes not supported by [legacy Grbl](https://github.com/gnea/grbl/wiki) are
 Some [plugins](https://github.com/grblHAL/plugins) implements additional M-codes.
 
 ---
-20240523
+20241120

changelog.md

@@ -1,14 +1,41 @@
 ## grblHAL changelog
 
+<a name="20241120">Build 20241120
+
+Core:
+
+* A bit of refactoring related to spindles as a first step for a coming settings structure revision, "hardened" some code.
+
+Drivers:
+
+* Some: added support for ["assorted small plugins"](https://github.com/grblHAL/Plugins_misc/), mainly for drivers available in the Web Builder.
+
+* STM32F1xx: moved board specific code to _biard_ directory.
+
+* STM32F4xx: simplified configuration of Trinamic low-level interfaces, fixed typos in second RGB LED channel code
+and added workaround for RGB LEDs connected to debug pin beeing turned on at boot.
+
+Plugins:
+
+* Motors: refactored M-code handling and added support for Marlin style `M569` and `M919` commands. Some minor bug fixes.
+
+* Trinamic: fixed "bug" in TMC2660 current handling, extended API.
+
+* Spindle: changed settings handling when multiple spindles are configured. Fixed bug in `M104P<n>` M-code.
+__NOTE:__ an automatic update of settings `$511`-`$513` will be attempted, this may fail so please check them after upgrading.
+
+---
+
+
 <a name="20241116">Build 20241116
 
 Core:
 
 * Added support for named o-sub/o-call to flow control, for calling gcode subroutines stored on SD card or in littlefs. Sub name matches filename with extension _.macro_.
 
-* Added core event for handling special gcode comments used by expressions: `DEBUG`, `PRINT` and `ABORT`. These can now be extended by or new added to by plugins.
+* Added core event for handling special gcode comments used by expressions: `DEBUG`, `PRINT` and `ABORT`. These can now be extended or new added to by plugins.
 
-* Added overrideable default $-setting values for second PWM spindle to _grbl/config.c_.
+* Added overridable default $-setting values for second PWM spindle to _grbl/config.c_.
 
 Plugins:
 

gcode.c

@@ -940,7 +940,11 @@ status_code_t gc_execute_block (char *block)
         if((letter < 'A' && letter != '$') || letter > 'Z')
             FAIL(Status_ExpectedCommandLetter); // [Expected word letter]
 
-        if(!read_float(block, &char_counter, &value)) {
+        if(letter == 'O') {
+            value = NAN;
+            if((status = read_uint(block, &char_counter, &int_value)) != Status_OK)
+                FAIL(status);
+        } else if(!read_float(block, &char_counter, &value)) {
             if(user_mcode == UserMCode_NoValueWords)    // Valueless parameters allowed for user defined M-codes.
                 value = NAN;                            // Parameter validation deferred to implementation.
             else
@@ -956,9 +960,7 @@ status_code_t gc_execute_block (char *block)
         // a good enough compromise and catch most all non-integer errors. To make it compliant,
         // we would simply need to change the mantissa to int16, but this add compiled flash space.
         // Maybe update this later.
-        if(isnan(value))
-            mantissa = 0;
-        else {
+        if(!isnanf(value)) {
             int_value = (uint32_t)truncf(value);
             mantissa = (uint_fast16_t)roundf(100.0f * (value - int_value));
         }
@@ -1462,7 +1464,7 @@ status_code_t gc_execute_block (char *block)
                         if (mantissa > 0)
                             FAIL(Status_GcodeCommandValueNotInteger);
                         word_bit.parameter.o = On;
-                        gc_block.values.o = isnan(value) ? 0xFFFFFFFF : int_value;
+                        gc_block.values.o = int_value;
                         break;
 
                     case 'P': // NOTE: For certain commands, P value must be an integer, but none of these commands are supported.

grbl.h

@@ -42,7 +42,7 @@
 #else
 #define GRBL_VERSION "1.1f"
 #endif
-#define GRBL_BUILD 20241116
+#define GRBL_BUILD 20241120
 
 #define GRBL_URL "https://github.com/grblHAL"
 

grbllib.c

@@ -279,7 +279,27 @@ int grbl_enter (void)
     if(driver.ok == 0xFF)
         driver.setup = hal.driver_setup(&settings);
 
-    if((driver.spindle = spindle_select(settings.spindle.flags.type))) {
+    uint8_t n_spindle = spindle_get_count();
+#if N_SPINDLE < 2
+    spindle_id_t spindle_id = 0;
+#else
+    spindle_id_t spindle_id = setting_get_int_value(setting_get_details(Setting_SpindleType, NULL), 0);
+#endif
+
+// Sanity checks
+    if(spindle_id >= n_spindle) {
+
+        spindle_ptrs_t *spindle = spindle_get_hal(0, SpindleHAL_Raw);
+
+        spindle_id = 0;
+        settings.spindle.flags.type = spindle ? spindle->id : 0; // TODO: change to ref_id in next settings revision
+    }
+
+    if(settings.offset_lock.encoder_spindle >= n_spindle)
+        settings.offset_lock.encoder_spindle = settings.spindle.flags.type;
+//
+
+    if((driver.spindle = spindle_select(spindle_id))) {
         spindle_ptrs_t *spindle = spindle_get(0);
         driver.spindle = spindle->get_pwm == NULL || spindle->update_pwm != NULL;
     } else
@@ -318,7 +338,7 @@ int grbl_enter (void)
         setting_remove_elements(Setting_FSOptions, fs_options.mask);
     }
 
-    // Grbl initialization loop upon power-up or a system abort. For the latter, all processes
+    // Initialization loop upon power-up or a system abort. For the latter, all processes
     // will return to this loop to be cleanly re-initialized.
     while(looping) {
 
@@ -346,7 +366,7 @@ int grbl_enter (void)
 
         flush_override_buffers();
 
-        // Reset Grbl primary systems.
+        // Reset primary systems.
         hal.stream.reset_read_buffer(); // Clear input stream buffer
         gc_init();                      // Set g-code parser to default state
         hal.limits.enable(settings.limits.flags.hard_enabled, (axes_signals_t){0});
@@ -373,7 +393,7 @@ int grbl_enter (void)
         if(hal.driver_cap.mpg_mode)
             protocol_enqueue_realtime_command(sys.mpg_mode ? CMD_STATUS_REPORT_ALL : CMD_STATUS_REPORT);
 
-        // Start Grbl main loop. Processes program inputs and executes them.
+        // Start main loop. Processes program inputs and executes them.
         if(!(looping = protocol_main_loop()))
             looping = hal.driver_release == NULL || hal.driver_release();
 

ngc_params.c

@@ -827,7 +827,7 @@ char *ngc_string_param_get (ngc_string_id_t id)
             break;
     } while((sp = sp->next));
 
-    return sp->value;
+    return sp ? sp->value : NULL;
 }
 
 bool ngc_string_param_exists (ngc_string_id_t id)

nuts_bolts.c

@@ -306,7 +306,7 @@ bool read_float (char *line, uint_fast8_t *char_counter, float *float_ptr)
 // Returns true if float value is a whole number (integer)
 bool isintf (float value)
 {
-    return value != NAN && fabsf(value - truncf(value)) < 0.001f;
+    return !isnanf(value) && fabsf(value - truncf(value)) < 0.001f;
 }
 
 // Non-blocking delay function used for general operation and suspend features.

pin_bits_masks.h

@@ -137,7 +137,7 @@
 #endif
 #endif
 
-// Optional control signals, assigned to auxillary input pins
+// Optional control signals, assigned to auxiliary input pins
 
 #ifndef MOTOR_FAULT_BIT
 #if defined(MOTOR_FAULT_PIN) && !MOTOR_FAULT_ENABLE

report.c

@@ -1120,12 +1120,16 @@ void report_echo_line_received (char *line)
     hal.stream.write("]" ASCII_EOL);
 }
 
-#if N_SYS_SPINDLE == 1 &&  N_SPINDLE > 1
+#if N_SYS_SPINDLE == 1 && N_SPINDLE > 1
 
-static void report_spindle_num (spindle_info_t *spindle, void *data)
+static bool report_spindle_num (spindle_info_t *spindle, void *data)
 {
-    if(spindle->id == *((spindle_id_t *)data))
+    bool ok;
+
+    if((ok = spindle->id == *((spindle_id_t *)data)))
         hal.stream.write_all(appendbuf(2, "|S:", uitoa((uint32_t)spindle->num)));
+
+    return ok;
 }
 
 #endif
@@ -2488,7 +2492,7 @@ status_code_t report_time (void)
     return ok ? Status_OK : Status_InvalidStatement;
 }
 
-static void report_spindle (spindle_info_t *spindle, void *data)
+static bool report_spindle (spindle_info_t *spindle, void *data)
 {
     if(data) {
         char *caps = buf;
@@ -2550,6 +2554,8 @@ static void report_spindle (spindle_info_t *spindle, void *data)
         }
         hal.stream.write(ASCII_EOL);
     }
+
+    return false;
 }
 
 #if N_SPINDLE > 1
@@ -2560,9 +2566,11 @@ typedef struct {
     spindle_info_t *spindles;
 } spindle_rdata_t;
 
-static void get_spindles (spindle_info_t *spindle, void *data)
+static bool get_spindles (spindle_info_t *spindle, void *data)
 {
     memcpy(&((spindle_rdata_t *)data)->spindles[((spindle_rdata_t *)data)->idx++], spindle, sizeof(spindle_info_t));
+
+    return false;
 }
 
 static int cmp_spindles (const void *a, const void *b)

settings.c

@@ -379,7 +379,7 @@ static status_code_t set_control_invert (setting_id_t id, uint_fast16_t int_valu
 static status_code_t set_spindle_invert (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_pwm_mode (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_pwm_options (setting_id_t id, uint_fast16_t int_value);
-static status_code_t set_spindle_type (setting_id_t id, uint_fast16_t int_value);
+static status_code_t set_default_spindle (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_encoder_spindle (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_control_disable_pullup (setting_id_t id, uint_fast16_t int_value);
 static status_code_t set_probe_disable_pullup (setting_id_t id, uint_fast16_t int_value);
@@ -630,7 +630,7 @@ PROGMEM static const setting_detail_t setting_detail[] = {
      { Setting_DoorCoolantOnDelay, Group_SafetyDoor, "Coolant on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.coolant_on_delay, NULL, is_setting_available },
 #endif
      { Setting_SpindleOnDelay, Group_Spindle, "Spindle on delay", "s", Format_Decimal, "#0.0", "0.5", "20", Setting_IsExtended, &settings.safety_door.spindle_on_delay, NULL, is_setting_available },
-     { Setting_SpindleType, Group_Spindle, "Default spindle", NULL, Format_RadioButtons, spindle_types, NULL, NULL, Setting_IsExtendedFn, set_spindle_type, get_int, is_setting_available },
+     { Setting_SpindleType, Group_Spindle, "Default spindle", NULL, Format_RadioButtons, spindle_types, NULL, NULL, Setting_IsExtendedFn, set_default_spindle, get_int, is_setting_available },
      { Setting_PlannerBlocks, Group_General, "Planner buffer blocks", NULL, Format_Int16, "####0", "30", "1000", Setting_IsExtended, &settings.planner_buffer_blocks, NULL, NULL, { .reboot_required = On } },
      { Setting_AutoReportInterval, Group_General, "Autoreport interval", "ms", Format_Int16, "###0", "100", "1000", Setting_IsExtendedFn, set_report_interval, get_int, NULL, { .reboot_required = On, .allow_null = On } },
 //     { Setting_TimeZoneOffset, Group_General, "Timezone offset", NULL, Format_Decimal, "-#0.00", "0", "12", Setting_IsExtended, &settings.timezone, NULL, NULL },
@@ -678,7 +678,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
                                 "If Run substatus is enabled it may be used for simple probe protection.\\n\\n"
                                 "NOTE: Parser state will be sent separately after the status report and only on changes."
     },
-    { Setting_JunctionDeviation, "Sets how fast Grbl travels through consecutive motions. Lower value slows it down." },
+    { Setting_JunctionDeviation, "Sets how fast grblHAL travels through consecutive motions. Lower value slows it down." },
     { Setting_ArcTolerance, "Sets the G2 and G3 arc tracing accuracy based on radial error. Beware: A very small value may effect performance." },
     { Setting_ReportInches, "Enables inch units when returning any position and rate value that is not a settings value." },
     { Setting_ControlInvertMask, "Inverts the control signals (active low).\\n"
@@ -754,7 +754,7 @@ PROGMEM static const setting_descr_t setting_descr[] = {
 #endif
     { Setting_SleepEnable, "Enable sleep mode." },
     { Setting_HoldActions, "Actions taken during feed hold and on resume from feed hold." },
-    { Setting_ForceInitAlarm, "Starts Grbl in alarm mode after a cold reset." },
+    { Setting_ForceInitAlarm, "Start in alarm mode after a cold reset." },
     { Setting_ProbingFeedOverride, "Allow feed override during probing." },
 #if ENABLE_SPINDLE_LINEARIZATION
      { Setting_LinearSpindlePiece1, "Comma separated list of values: RPM_MIN, RPM_LINE_A1, RPM_LINE_B1, set to blank to disable." },
@@ -1064,30 +1064,45 @@ static status_code_t set_pwm_options (setting_id_t id, uint_fast16_t int_value)
     return Status_OK;
 }
 
-static status_code_t set_spindle_type (setting_id_t id, uint_fast16_t int_value)
+typedef struct {
+    uint8_t ref_id;
+    spindle_id_t spindle_id;
+} spindle_map_t;
+
+static bool get_spindle_ref_id (spindle_info_t *spindle, void *map)
 {
-    if(spindle_get_count() < 2)
-        return Status_SettingDisabled;
-    else if(int_value >= spindle_get_count())
-        return Status_SettingValueOutOfRange;
+    bool ok;
 
-    settings.spindle.flags.type = int_value;
+    if((ok = spindle->id == ((spindle_map_t *)map)->spindle_id))
+        ((spindle_map_t *)map)->ref_id = spindle->ref_id;
 
-    spindle_select(settings.spindle.flags.type);
+    return ok;
+}
 
-    return Status_OK;
+static status_code_t set_default_spindle (setting_id_t id, uint_fast16_t int_value)
+{
+    status_code_t status;
+    spindle_map_t spindle = { .spindle_id = int_value };
+
+    if((status = spindle_enumerate_spindles(get_spindle_ref_id, &spindle) ? Status_OK : Status_SettingValueOutOfRange) == Status_OK) {
+
+        settings.spindle.flags.type = spindle.spindle_id; // TODO: change to ref_id in next settings revision
+
+        spindle_select(spindle.spindle_id);
+    }
+
+    return status;
 }
 
 static status_code_t set_encoder_spindle (setting_id_t id, uint_fast16_t int_value)
 {
-    if(spindle_get_count() < 2)
-        return Status_SettingDisabled;
-    else if(int_value >= spindle_get_count())
-        return Status_SettingValueOutOfRange;
+    status_code_t status;
+    spindle_map_t spindle = { .spindle_id = int_value };
 
-    settings.offset_lock.encoder_spindle = int_value;
+    if((status = spindle_enumerate_spindles(get_spindle_ref_id, &spindle) ? Status_OK : Status_SettingValueOutOfRange) == Status_OK)
+        settings.offset_lock.encoder_spindle = spindle.spindle_id; // TODO: change to ref_id in next settings revision
 
-    return Status_OK;
+    return status;
 }
 
 static status_code_t set_spindle_invert (setting_id_t id, uint_fast16_t int_value)
@@ -1801,7 +1816,7 @@ static uint32_t get_int (setting_id_t id)
             break;
 
         case Setting_SpindleType:
-            value = settings.spindle.flags.type;
+            value = settings.spindle.flags.type; // TODO: change to ref_id in next settings revision
             break;
 
         case Setting_AutoReportInterval:
@@ -2370,10 +2385,14 @@ void settings_write_global (void)
 
 #if N_SPINDLE > 1
 
-static void get_default_spindle (spindle_info_t *spindle, void *data)
+static bool get_default_spindle (spindle_info_t *spindle, void *data)
 {
-    if(spindle->ref_id == (uint8_t)((uint32_t)data))
+    bool ok;
+
+    if((ok = spindle->ref_id == (uint8_t)((uint32_t)data)))
         settings.spindle.flags.type = spindle->id;
+
+    return ok;
 }
 
 #endif
@@ -3158,10 +3177,4 @@ void settings_init (void)
     } while((details = details->next));
 
     setting_details.on_changed = hal.settings_changed;
-
-    // Sanity checks for spindle configuration
-    if(settings.spindle.flags.type >= spindle_get_count())
-        settings.spindle.flags.type = 0;
-    if(settings.offset_lock.encoder_spindle >= spindle_get_count())
-        settings.offset_lock.encoder_spindle = 0;
 }

spindle_control.c

@@ -302,7 +302,7 @@ static spindle_num_t spindle_get_num (spindle_id_t spindle_id)
         do {
             idx--;
             if((setting = setting_get_details(idx == 0 ? Setting_SpindleType : (setting_id_t)(Setting_SpindleEnable0 + idx), NULL))) {
-                if(setting_get_int_value(setting, 0) == spindle_id)
+                if(setting_get_int_value(setting, 0) - (idx == 0 ? 0 : 1) == spindle_id)
                     spindle_num = idx;
             }
         } while(idx && spindle_num == -1);
@@ -377,10 +377,11 @@ bool spindle_enumerate_spindles (spindle_enumerate_callback_ptr callback, void *
         spindle.hal = spindle.enabled && sys_spindle[spindle.num].hal.id == spindle.id ? &sys_spindle[spindle.num].hal : &spindles[idx].hal;
         spindle.is_current = spindle.enabled && sys_spindle[0].hal.id == idx;
 
-        callback(&spindle, data);
+        if(callback(&spindle, data))
+            return true;
     }
 
-    return true;
+    return false;
 }
 
 // The following calls uses logical spindle numbers pointing into the sys_spindle array

spindle_control.h

@@ -334,7 +334,7 @@ typedef struct  {
 /*! \brief Pointer to callback function called by spindle_enumerate_spindles().
 \param spindle prointer to a \a spindle_info_t struct.
 */
-typedef void (*spindle_enumerate_callback_ptr)(spindle_info_t *spindle, void *data);
+typedef bool (*spindle_enumerate_callback_ptr)(spindle_info_t *spindle, void *data);
 
 void spindle_set_override (spindle_ptrs_t *spindle, override_t speed_override);
 

system.c

@@ -789,7 +789,7 @@ const char *help_pins (const char *cmd)
 
 const char *help_pin_state (const char *cmd)
 {
-    return hal.port.get_pin_info ? "output auxillary pin states" : NULL;
+    return hal.port.get_pin_info ? "output auxiliary pin states" : NULL;
 }
 
 #endif